wxmerkt / pinocchio_ros_example

Pinocchio ROS/catkin example

This example demonstrates how to use Pinocchio in a catkin package. Pinocchio is released as a 3rd-party CMake package into ROS Kinetic, Melodic, and Noetic and can be installed using sudo apt install ros-$ROS_DISTRO-pinocchio.

To find Pinocchio:

find_package(pinocchio REQUIRED)

and use:

target_link_libraries(${PROJECT_NAME} pinocchio::pinocchio)

This example is built on GitHub Actions for Melodic and Noetic.

Include order

When including a ROS header, e.g. ros/ros.h, compilation errors may occur. This is due to different requirements for BOOST_MPL_LIMIT_LIST_SIZE between ROS and Pinocchio. To avoid this error, make sure to always include pinocchio/fwd.hpp before any other header.